Ambush avoidance in vehicle routing for valuable delivery

Salani, Matteo; Duyckaerts, Gaëtan; Swartz, Peter Goodings

doi:10.1007/s12198-010-0037-0

Cited by 8 publications

(3 citation statements)

References 9 publications

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“…They advanced the idea of a variable game outcome at each node of the network. Their formulation was later used in applications for piracy prevention by Vanek et al [11] [12] and cash transport protection by Salani et al [13]. The work cited so far proposed solutions to the game on a discrete network; however, there has been little analysis regarding the set of optimal solutions.…”

Section: Introductionmentioning

confidence: 99%

Optimal Player Policies for Continuous Ambush Games

Boidot

Marzuoli

Féron

2018

Journal of Guidance, Control, and Dynamics

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We consider an autonomous navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. A two players zero sum game is introduced. Players' strategies are computed as random path distributions, a realization of which is the path chosen by the traveler. A parallel is drawn between the discrete problem, where the traveler moves on a network, and the continuous problem, where the traveler moves in the plane. Analytical optimal policies are derived. Using assumptions from the Minimal Cut -Maximal Flow literature, the optimal value of the game is shown to be related to the maximum flow on the environment in both the discrete and the continuous cases, when the reward function for the ambusher is uniform. A linear program is introduced that allows for the computation of optimal policies, compatible with non-uniform reward functions. In order to relax the assumptions for the computation of the players' optimal strategies of the continuous game, a network is created, inspired by recently introduced sampling based motion planning techniques, and the linear program is adapted for continuous constraints.

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Section: Introductionmentioning

confidence: 99%

Optimal Player Policies for Continuous Ambush Games

Boidot

Marzuoli

Féron

2018

Journal of Guidance, Control, and Dynamics

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“…While they advanced the idea of a variable game outcome at each node of the network, no analysis of this parameter was performed. Their formulation was later used in applications for piracy prevention [15] [7] and money transit protection [14], where the multiple destination case is tackled.…”

Section: Introductionmentioning

confidence: 99%

A Complete framework for ambush avoidance in realistic environments

Boidot,

Marzuoli,

Feron

2014

Preprint

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Operating vehicles in adversarial environments between a recurring origin-destination pair requires new planning techniques. A Ruckle-inspired game is introduced. The goal of the first player is to minimize the expected casualties undergone by a convoy. The goal of the second player is to maximize this damage. The outcome of the game is obtained via a linear program that solves the corresponding minmax optimization problem over this outcome. Different environment models are defined in order to compute routing strategies over unstructured environments. To compare these methods for increasingly accurate representations of the environment, a grid-based model is chosen to represent the environment and the existence of a sufficient network size is highlighted. A global framework for the generation of realistic routing strategies between any two points is described. This framework requires a good assessment of the potential casualties at any location, therefore the most important parameters are identified. Finally the framework is tested on real world environments.

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“…Considering a roadmap, their goal is to minimize the expected penalty of getting ambushed over the probability vector representative of the stochastic behavior of a convoy at each intersection on the road, the output of this model being the corresponding optimal vector. Salani, Duyckaerts and Schwartz [4] adapted the model in [2] for convoys that must stop at multiple locations, for instance in the case of money distribution vehicles. The works above do not assume any information about the opponent position.…”

Section: Introductionmentioning

confidence: 99%

Planning random path distributions for ambush games in unstructured environments

Boidot

Féron

2012

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Operating vehicles in adversarial environments require non-conventional planning techniques. A two-player, zero-sum noncooperative game is introduced, and solved via a linear program. An extension is proposed to construct networks displaying good representations of the environment characteristics, while offering acceptable results for the technique used. Sensitivity of the solution to the LP solver algorithm is identified. The planner's performances are finally assessed by comparison with those of conventional planners. Results are used to formulate secondary objectives to the problem.

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Ambush avoidance in vehicle routing for valuable delivery

Cited by 8 publications

References 9 publications

Optimal Player Policies for Continuous Ambush Games

Optimal Player Policies for Continuous Ambush Games

A Complete framework for ambush avoidance in realistic environments

Planning random path distributions for ambush games in unstructured environments

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